Design and characterization of a three-axis hall effect-based soft skin sensor

Tito Pradhono Tomo*, Sophon Somlor, Alexander Schmitz, Lorenzo Jamone, Weijie Huang, Harris Kristanto, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

65 Citations (Scopus)


This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

Original languageEnglish
JournalSensors (Switzerland)
Issue number4
Publication statusPublished - 2016 Apr 7


  • Magnetic
  • Sensor
  • Skin
  • Tactile

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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